2017-05-31 17:21:24 +08:00
|
|
|
# Copyright 2016 The Cartographer Authors
|
|
|
|
|
#
|
|
|
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
|
|
|
# you may not use this file except in compliance with the License.
|
|
|
|
|
# You may obtain a copy of the License at
|
|
|
|
|
#
|
|
|
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
|
|
|
#
|
|
|
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
|
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
|
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
|
|
|
# See the License for the specific language governing permissions and
|
|
|
|
|
# limitations under the License.
|
|
|
|
|
|
|
|
|
|
string tracking_frame
|
|
|
|
|
string published_frame
|
|
|
|
|
string odom_frame
|
|
|
|
|
bool provide_odom_frame
|
|
|
|
|
bool use_odometry
|
2018-01-11 20:11:27 +08:00
|
|
|
bool use_nav_sat
|
2018-03-02 18:37:10 +08:00
|
|
|
bool use_landmarks
|
2018-02-26 19:30:58 +08:00
|
|
|
bool publish_frame_projected_to_2d
|
2017-07-21 20:07:15 +08:00
|
|
|
int32 num_laser_scans
|
|
|
|
|
int32 num_multi_echo_laser_scans
|
2017-07-19 20:15:11 +08:00
|
|
|
int32 num_subdivisions_per_laser_scan
|
2017-05-31 17:21:24 +08:00
|
|
|
int32 num_point_clouds
|
2017-09-29 15:04:41 +08:00
|
|
|
float64 rangefinder_sampling_ratio
|
|
|
|
|
float64 odometry_sampling_ratio
|
2018-01-11 20:11:27 +08:00
|
|
|
float64 fixed_frame_pose_sampling_ratio
|
2017-09-29 15:04:41 +08:00
|
|
|
float64 imu_sampling_ratio
|
2018-03-02 18:37:10 +08:00
|
|
|
float64 landmarks_sampling_ratio
|
2017-05-31 17:21:24 +08:00
|
|
|
|
|
|
|
|
# This is a binary-encoded
|
|
|
|
|
# 'cartographer.mapping.proto.TrajectoryBuilderOptions' proto.
|
|
|
|
|
string trajectory_builder_options_proto
|
